2016 Lecture 0 Introduction and Lecture Overview

ASL
Autonomous Systems Lab
Spring 2016
Mobile Robots | Introduction and Lecture Overview

Autonomous Mobile Robots
https://edge.edx.org/courses/course-v1:ETHx+AMRx_Internal_FS2016+2016_Spring/
Roland Siegwart, Margarita Chli, Martin Rufli

Introduction | Lecture Overview
ASL
Autonomous mobile robot | your teachers

Roland Siegwart, ETH Zurich
Margarita Chli, ETH Zurich
Martin Rufli, IBM Research
Video segments
Marco Hutter, ETH Zurich
Davide Scaramuzza, Univ. of Zrich
Paul Furgale, Apple

ASL
Autonomous mobile robot | about the course

https://edge.edx.org/courses/course-v1:ETHx+AMRx_Internal_FS2016+2016_Spring/
Running as an ETH-internal MOOC (Massive Open Online Course)

Over 30 short video lectures that we call segments.
The segments are complemented with:
short questions for each segment to verify your understanding and progress
various exercises (problem sets)
videos showing the current state-of-the-art in the field
Please register on edge.edx.org and sign up for the lecture AMRx of ETHx
Textbook
Introduction to Autonomous Mobile Robots
Roland Siegwart, Illah Nourbakhsh, Davide Scaramuzza
On sale in LEE J206 for CHF 40
The MIT Press
Other materials
http://www.asl.ethz.ch/education/lectures/autonomous_mobile_robots.html
ASL
The Lecture
We expect you to view and study the following elements beforehand:
video segment
relevant AMR book chapters
problem sets and quizzes
Lecture on Tuesday 10:15 12:00 in CAB G 11

Organized as flipped classroom we need your active participation!!
Video Segments will not be repeated
Focus on putting the learnt content into context
Questions from students (in forum until Friday before the related lecture)
go over difficult problems
go a bit more in detail where needed (e.g. proofs of theorems, etc.)
Exercises on Tuesday 14:15 16:00 in CAB G 11 (around every second week)

Special exercises only supported for ETH students
ASL
Lecture Program

ASL
Exam
Type
Written session examination
Language of examination
English
Course attendance confirmation required

No
Repetition
The performance assessment is only offered in the session after the course unit. Repetition
only possible after re-enrolling.
Mode of examination
written 120 minutes
Written aids
4 A4-pages personal summary
ASL
Autonomous mobile robot | the key questions
The three key questions in Mobile Robotics

Where am I ?
Where am I going ?
How do I get there ?
To answer these questions the robot has to
have a model of the environment (given or autonomously built)

perceive and analyze the environment
find its position/situation within the environment
plan and execute the movement

ASL
Autonomous mobile robot | the see-think-act cycle

knowledge,
data base
mission
commands
position
global map
Cognition
Path Planning
path
Information
Extraction
Path
Execution
Perception
environment model
local map
raw data
see-think-act
Sensing
actuator
commands
Acting
Motion Control
Localization
Map Building
Real World
Environment
ASL
Motion Control | kinematics and motion control

Wheel types and its constraints
Rolling constraint
no-sliding constraint (lateral)
Motion control

, ,
, ,
?
10
ASL

knowledge,
data base
mission
commands
position
global map
Cognition
Path Planning
path
Information
Extraction
Path
Execution
Perception
environment model
local map
raw data
see-think-act
Sensing
actuator
commands
Acting
Motion Control
Localization
Map Building
Real World
Environment
11
ASL
Perception | sensing
Laser scanner
time of flight
Laser
scanners
GPS
IMU
Omnidirectional
camera
Laser scanner
Camers
object
Lens
Focal
Plane
Standard
camera
Security
switch
Focal Point
Focal Length: f
Wheel
encoders
12
ASL
Perception | information extraction

Filtering / Edge Detection
Keypoint Features
features that are reasonably invariant to
rotation, scaling, viewpoint, illumination
FAST, SURF, SIFT, BRISK,
1
5
1
1
4
3
1
2
1 1 2
6
3
4
5
6
C
1
1
7
1 9 8
0
Image from [Rosten et al., PAMI 2010]
Keypoint matching
BRISK example
13
ASL

knowledge,
data base
mission
commands
position
global map
Cognition
Path Planning
path
Information
Extraction
Path
Execution
Perception
environment model
local map
raw data
see-think-act
Sensing
actuator
commands
Acting
Motion Control
Localization
Map Building
Real World
Environment
14
ASL
Localization | where am I?
SEE: The robot queries its sensors

finds itself next to a pillar
ACT: Robot moves one meter forward
motion estimated by wheel encoders
accumulation of uncertainty
SEE: The robot queries its sensors

again finds itself next to a pillar
Belief update (information fusion)
15
ASL

knowledge,
data base
mission
commands
position
global map
Cognition
Path Planning
path
Information
Extraction
Path
Execution
Perception
environment model
local map
raw data
see-think-act
Sensing
actuator
commands
Acting
Motion Control
Localization
Map Building
Real World
Environment
16
ASL
Cognition | Where am I going ? How do I get there ?
Goal

17
ASL
Cognition | Where am I going ? How do I get there ?

Global path planning
Graph search
Local path planning

Local collision avoidance

18
ASL

knowledge,
data base
mission
commands
position
global map
Cognition
Path Planning
path
Information
Extraction
Path
Execution
Perception
environment model
local map
raw data
see-think-act
Sensing
actuator
commands
Acting
Motion Control
Localization
Map Building
Real World
Environment
19
ASL
Autonomous mobile robot | we invite you to join the course

20
ASL
Autonomous Mobile Robots | Some recent examples

Examples not part of MOOC Video Segment

21
ASL
From Perception to Understanding
Localization
position
global map
environment model
local map
Places / Situations
Fusing & Compressing Information
A specific room, a meeting situation,
Servicing / Reasoning

Objects
Doors, Humans, Coke bottle, car ,
Perception
Cognition
path
Real World
Environment
Motion Control
Functional / Contextual
Relationships of Objects
imposed
learned
spatial / temporal/semantic
Models / Semantics
Interaction
Features
imposed
learned
Lines, Contours, Colors, Phonemes,
Navigation
Models
Raw Data
imposed
learned
Vision, Laser, Sound, Smell,

24
ASL
Laser-based outdoor navigation

31
ASL
V-Charge | Automonous driving using close-to-market sensors

32
ASL
V-Charge | Autonomous driving using close-to-market sensors

33
ASL
Typical Situation
http://www.youtube.com/watch?v=wn2NfUH0G-Q
http://hamilton-baillie.co.uk
34
ASL
V-Charge Review 2 | Driving Demo

35
ASL
V-Charge | the ultimate vision

Mixed-traffic scenarios

36
ASL
www.nifti.eu/
NIFTi Urban Search and Rescuing
Project goals
Robotic help for Urban Search and Rescue
UGV and UAV combined for scene exploration
Yearly evaluation of system by firemen
Omnicam
Environment modeling
Rotating Laser
Online 3D mapping from laser sensor

Based on enhanced ICP released open-source
Topological segmentation for human-robot interaction

37
ASL
Vision only UAV navigation
www.sfly.ethz.ch/
Swarm of small helicopters

Vision only navigation (one camera, GPS denied)
Fully autonomous with on-board computing
Feature based visual SLAM
Proto1
Proto2
Proto3
40
ASL
UAV | collision avoidance and path planning

Real time 3D mapping (on-board)
optimal path planning considering localization uncertainties
Proto1
Proto2
Proto3
41
ASL
Solar powered fixed wing airplanes:

Long duration / continuous flights
senseSoar
Wingspan:
3m
Wing area:
0.725 m2
Peak Solar power
140 W
Power Consumption
50 W
Masses:
Overall:
3.72 kg
Batteries:
1.89 kg
Nominal Speed
10 m/s
Sensors
Air speed
IMU, GPS
Camera and IR camera
AtlantikSolar
Wingspan:
Solar area:
Peak Solar power
Power Consumption
Masses:
Overall:
Batteries:
Nominal Speed
Sensors
Air speed
IMU, GPS
Camera
5.64 m
1.5 m2
280 W
40 W
6.2 kg
1.89 kg
10 m/s
|
Introduction | Lecture
Overview
ASL
Efficient Walking and Running |

what nature evolved (Extreme Jumpy Dog)
http://www.youtube.com/watch?v=Jql6TSyudFE

43
ASL
Efficient Walking
and Running | serial elastic actuation

44
ASL
StarlETH | agile, efficiency and robust
precise torque control during stance

fast task space position control during swing
virtual model controller for ground contact
autonomous gait discovery by stochastic optimization

45
ASL
Humanoid Robot: ASIMO

Hondas ASIMO - Advanced Step in Innovative MObility
Designed to help people in their everyday lives
One of the most advanced humanoid robots
Compact, lightweight
Sophisticated walk
technology
Human-friendly design
Video: Honda 2012

47
ASL
Beyond Mobility | PR2 robot from Willow Garage
Fold towels
Courtesy of
Clean-up
48

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ASL

Autonomous Systems Lab

Mobile Robots | Introduction and Lecture Overview

Autonomous Mobile Robots

Introduction | Lecture Overview

Autonomous mobile robot | your teachers

Autonomous Mobile Robots

Introduction | Lecture Overview

Autonomous mobile robot | about the course

Running as an ETH-internal MOOC (Massive Open Online Course)

Introduction | Lecture Overview

Lecture on Tuesday 10:15 12:00 in CAB G 11

Exercises on Tuesday 14:15 16:00 in CAB G 11 (around every second week)

Introduction | Lecture Overview

Autonomous Mobile Robots

Introduction | Lecture Overview

Course attendance confirmation required

Introduction | Lecture Overview

Autonomous mobile robot | the key questions

The three key questions in Mobile Robotics

To answer these questions the robot has to

have a model of the environment (given or autonomously built)

Autonomous Mobile Robots

Introduction | Lecture Overview

Autonomous mobile robot | the see-think-act cycle

Introduction | Lecture Overview

Motion Control | kinematics and motion control

Autonomous Mobile Robots

Autonomous mobile robot | the see-think-act cycle

Introduction | Lecture Overview

Perception | information extraction

Image from [Rosten et al., PAMI 2010]

Introduction | Lecture Overview

Autonomous mobile robot | the see-think-act cycle

Introduction | Lecture Overview

SEE: The robot queries its sensors

SEE: The robot queries its sensors

Introduction | Lecture Overview

Autonomous mobile robot | the see-think-act cycle

Introduction | Lecture Overview

Cognition | Where am I going ? How do I get there ?

Autonomous Mobile Robots

Introduction | Lecture Overview

Cognition | Where am I going ? How do I get there ?

Local path planning

Autonomous Mobile Robots

Introduction | Lecture Overview

Autonomous mobile robot | the see-think-act cycle

Introduction | Lecture Overview

Autonomous mobile robot | we invite you to join the course

Autonomous Mobile Robots

Introduction | Lecture Overview

Autonomous Mobile Robots | Some recent examples

Autonomous Mobile Robots

Introduction | Lecture Overview

From Perception to Understanding

A specific room, a meeting situation,

Autonomous Mobile Robots

Lines, Contours, Colors, Phonemes,

Vision, Laser, Sound, Smell,

Laser-based outdoor navigation

Autonomous Mobile Robots

Introduction | Lecture Overview

V-Charge | Automonous driving using close-to-market sensors